Restructure: Allow to track multiple satellites (#43)

JuliaGNSS · May 19, 2023 · 2c5daa0 · 2c5daa0
1 parent d8b132e
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Showing 50 changed files with 3,014 additions and 2,608 deletions.
diff --git a/.JuliaFormatter.toml b/.JuliaFormatter.toml
@@ -0,0 +1,8 @@
+# Configuration file for JuliaFormatter.jl
+# For more information, see: https://domluna.github.io/JuliaFormatter.jl/stable/config/
+
+margin = 92
+remove_extra_newlines = true
+separate_kwargs_with_semicolon = true
+format_docstrings = true
+format_markdown = true
diff --git a/Project.toml b/Project.toml
@@ -1,29 +1,30 @@
 name = "Tracking"
 uuid = "10b2438b-ffd4-5096-aa58-44041d5c8f3b"
-authors = ["Soeren Schoenbrod <soeren.schoenbrod@nav.rwth-aachen.de>",
-           "Michael Niestroj <michael.niestroj@nav.rwth-aachen.de>"]
+authors = ["Soeren Schoenbrod <soeren.schoenbrod@nav.rwth-aachen.de>", "Michael Niestroj <michael.niestroj@nav.rwth-aachen.de>"]
 version = "0.15.2"
 
 [deps]
 Acquisition = "d4bbf60b-102b-5ffb-8f97-a7ea5817e69f"
+Adapt = "79e6a3ab-5dfb-504d-930d-738a2a938a0e"
 CUDA = "052768ef-5323-5732-b1bb-66c8b64840ba"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 GNSSSignals = "52c80523-2a4e-5c38-8979-05588f836870"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 LoopVectorization = "bdcacae8-1622-11e9-2a5c-532679323890"
+Revise = "295af30f-e4ad-537b-8983-00126c2a3abe"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 StructArrays = "09ab397b-f2b6-538f-b94a-2f83cf4a842a"
 TrackingLoopFilters = "0814aff9-93cb-554c-9fff-9bf1cfdb5efa"
 Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d"
 
 [compat]
-Acquisition = "0.1.0"
-CUDA = "3.5"
+Acquisition = "0.1.1"
+CUDA = "4.0"
 DocStringExtensions = "0.6, 0.7, 0.8, 0.9"
-GNSSSignals = "0.16"
+GNSSSignals = "0.17"
 LoopVectorization = "0.8, 0.9, 0.10, 0.11, 0.12"
 StaticArrays = "0.9, 0.10, 0.11, 0.12, 1.0"
 StructArrays = "0.4, 0.6.5"
 TrackingLoopFilters = "0.1"
 Unitful = "0.12, 0.13, 0.14, 0.15, 0.16, 0.17, 0.18, 1.0"
-julia = "1.6"
+julia = "1.6"
diff --git a/src/Tracking.jl b/src/Tracking.jl
@@ -12,37 +12,46 @@ module Tracking
     using Unitful: upreferred, Hz, dBHz, ms
     import Base.zero, Base.length, Base.resize!, LinearAlgebra.dot
 
-    export get_early, get_prompt, get_late
-    export get_early_index,get_prompt_index, get_late_index
-    export get_correlator
-    export get_accumulator, get_accumulators
-    export get_num_accumulators
-    export get_carrier_doppler, get_carrier_phase
-    export get_code_doppler, get_code_phase
-    export get_correlator_sample_shifts
-    export get_early_late_sample_spacing
-    export get_early_late_index_shift
-    export get_secondary_code_or_bit_found
-    export get_correlator_carrier_phase, get_correlator_carrier_frequency
-    export get_state
-    export get_system
-    export get_cn0
-    export track
-    export get_bits
-    export get_num_bits
-    export get_filtered_prompt
-    export get_post_corr_filter
-
-    export TrackingState
-    export NumAnts
-    export NumAccumulators
-    export MomentsCN0Estimator
-    export AbstractCN0Estimator
-    export EarlyPromptLateCorrelator
-    #export VeryEarlyPromptLateCorrelator
-    export SecondaryCodeOrBitDetector
-    export GainControlledSignal
-    export AbstractPostCorrFilter
+    export get_early, get_prompt, get_late,
+        get_prn,
+        get_code_phase,
+        get_code_doppler,
+        get_carrier_phase,
+        get_carrier_doppler,
+        get_integrated_samples,
+        get_correlator,
+        get_last_fully_integrated_correlator,
+        get_last_fully_integrated_filtered_prompt,
+        get_sample_of_last_fully_integrated_correlator,
+        get_secondary_code_or_bit_detector,
+        get_prompts_buffer,
+        get_bit_buffer,
+        get_bits,
+        get_accumulators,
+        get_early_late_sample_spacing,
+        track,
+        NumAnts,
+        NumAccumulators,
+        MomentsCN0Estimator,
+        AbstractCN0Estimator,
+        EarlyPromptLateCorrelator,
+        VeryEarlyPromptLateCorrelator,
+        SecondaryCodeOrBitDetector,
+        GainControlledSignal,
+        AbstractPostCorrFilter,
+        SatState,
+        SystemSatsState,
+        CPUDownconvertAndCorrelator,
+        GPUDownconvertAndCorrelator,
+        ConventionalPLLAndDLL,
+        ConventionalPLLsAndDLLs,
+        DefaultPostCorrFilter,
+        TrackState,
+        add_sats!,
+        remove_sats!,
+        get_sat_states,
+        get_sat_state,
+        get_system
 
     struct NumAnts{x}
     end
@@ -54,20 +63,45 @@ module Tracking
 
     NumAccumulators(x) = NumAccumulators{x}()
 
-    include("post_corr_filter.jl")
+    TupleLike{T <: Tuple} = Union{T, NamedTuple{<:Any, T}}
+
+    struct DopplersAndFilteredPrompt
+        carrier_doppler::typeof(1.0Hz)
+        code_doppler::typeof(1.0Hz)
+        filtered_prompt::ComplexF64
+    end
+
+    """
+    $(SIGNATURES)
+
+    Get the number of samples in the signal.
+    """
+    @inline function get_num_samples(signal)
+        length(signal)
+    end
+
+    @inline function get_num_samples(signal::AbstractMatrix)
+        size(signal, 1)
+    end
+
     include("code_replica.jl")
     include("carrier_replica.jl")
     include("downconvert.jl")
     include("cn0_estimation.jl")
-    include("discriminators.jl")
     include("bit_buffer.jl")
     include("correlator.jl")
+    include("discriminators.jl")
+    include("post_corr_filter.jl")
     include("secondary_code_or_bit_detector.jl")
-    include("tracking_state.jl")
-    include("tracking_results.jl")
-    include("tracking_loop.jl")
     include("gpsl1.jl")
     include("gpsl5.jl")
     include("galileo_e1b.jl")
+    include("sat_state.jl")
+    include("sample_parameters.jl")
+    include("update_sat_state.jl")
     include("downconvert_and_correlate.jl")
+    include("gpu_downconvert_and_correlate.jl")
+    include("conventional_pll_and_dll.jl")
+    include("tracking_state.jl")
+    include("track.jl")
 end
diff --git a/src/bit_buffer.jl b/src/bit_buffer.jl
@@ -6,10 +6,12 @@ BitBuffer to buffer bits
 struct BitBuffer
     buffer::UInt64
     length::Int
+    prompt_accumulator::ComplexF64
+    prompt_accumulator_integrated_code_blocks::Int
 end
 
 function BitBuffer()
-    BitBuffer(0, 0)
+    BitBuffer(0, 0, complex(0.0, 0.0), 0)
 end
 
 @inline get_bits(bit_buffer::BitBuffer) = bit_buffer.buffer
@@ -23,24 +25,31 @@ Buffer data bits based on the prompt accumulation and the current prompt value.
 function buffer(
     system::AbstractGNSS,
     bit_buffer,
-    prompt_accumulator,
+    integrated_code_blocks,
     secondary_code_or_bit_found,
-    prev_code_phase,
-    code_phase,
-    integration_time,
-    prompt_correlator
+    prompt
 )
-    prompt_accumulator = prompt_accumulator + secondary_code_or_bit_found *
-        prompt_correlator
+    prompt_accumulator = bit_buffer.prompt_accumulator + secondary_code_or_bit_found * prompt
+    prompt_accumulator_integrated_code_blocks = bit_buffer.prompt_accumulator_integrated_code_blocks +
+        secondary_code_or_bit_found * integrated_code_blocks
+
+    num_code_blocks_that_form_a_bit = Int(get_code_frequency(system) / (get_code_length(system) * get_data_frequency(system)))
 
-    if secondary_code_or_bit_found &&
-        (code_phase - prev_code_phase < 0 || integration_time == 1 / get_data_frequency(system))
+    return if secondary_code_or_bit_found &&
+        prompt_accumulator_integrated_code_blocks == num_code_blocks_that_form_a_bit
         bit = real(prompt_accumulator) > 0
-        bit_buffer = BitBuffer(
+        BitBuffer(
             get_bits(bit_buffer) << 1 + UInt64(bit),
-            length(bit_buffer) + 1
+            length(bit_buffer) + 1,
+            zero(prompt_accumulator),
+            0
+        )
+    else
+        BitBuffer(
+            bit_buffer.buffer,
+            bit_buffer.length,
+            prompt_accumulator,
+            prompt_accumulator_integrated_code_blocks
         )
-        prompt_accumulator = zero(prompt_accumulator)
     end
-    bit_buffer, prompt_accumulator
 end
diff --git a/src/cn0_estimation.jl b/src/cn0_estimation.jl
@@ -5,42 +5,55 @@ $(SIGNATURES)
 
 MomentsCN0Estimator to estimate the CN0
 """
-struct MomentsCN0Estimator{N} <: AbstractCN0Estimator
-    prompt_buffer::SVector{N, ComplexF64}
+struct MomentsCN0Estimator <: AbstractCN0Estimator
+end
+
+"""
+$(SIGNATURES)
+
+MomentsCN0Estimator to estimate the CN0
+"""
+struct PromptsBuffer
+    prompt_buffer::Vector{ComplexF64}
     current_index::Int
     length::Int
 end
 
-function MomentsCN0Estimator(N)
-    MomentsCN0Estimator{N}(zero(SVector{N, ComplexF64}), 0, 0)
+function PromptsBuffer(N)
+    PromptsBuffer(zeros(ComplexF64, N), 0, 0)
 end
 
-length(cn0_state::MomentsCN0Estimator) = cn0_state.length
-get_prompt_buffer(cn0_state::MomentsCN0Estimator) = cn0_state.prompt_buffer
-get_current_index(cn0_state::MomentsCN0Estimator) = cn0_state.current_index
+length(buffer::PromptsBuffer) = buffer.length
+get_prompt_buffer(buffer::PromptsBuffer) = buffer.prompt_buffer
+get_current_index(buffer::PromptsBuffer) = buffer.current_index
 
 """
 $(SIGNATURES)
 
 Updates the `cn0_estimator` to include the information of the current prompt value.
 """
-function update(cn0_estimator::MomentsCN0Estimator{N}, prompt) where N
-    next_index = mod(get_current_index(cn0_estimator), N) + 1
-    next_prompt_buffer = setindex(get_prompt_buffer(cn0_estimator), prompt, next_index)
-    next_length = min(length(cn0_estimator) + 1, N)
-    MomentsCN0Estimator{N}(next_prompt_buffer, next_index, next_length)
+function update(buffer::PromptsBuffer, prompt)
+    buffer_length = length(buffer.prompt_buffer) 
+    next_index = mod(get_current_index(buffer), buffer_length) + 1
+    buffer.prompt_buffer[next_index] = prompt
+    next_length = min(length(buffer) + 1, buffer_length)
+    PromptsBuffer(buffer.prompt_buffer, next_index, next_length)
 end
 
 """
 $(SIGNATURES)
 
 Estimates the CN0 based on the struct `cn0_estimator`.
 """
-function estimate_cn0(cn0_estimator::MomentsCN0Estimator, integration_time)
-    length(cn0_estimator) == 0 && return 0.0dBHz
-    abs2_prompt_buffer = abs2.(get_prompt_buffer(cn0_estimator))
-    M₂ = 1 / length(cn0_estimator) * sum(abs2_prompt_buffer)
-    M₄ = 1 / length(cn0_estimator) * sum(abs2_prompt_buffer .^ 2)
+function estimate_cn0(
+    buffer::PromptsBuffer,
+    cn0_estimator::MomentsCN0Estimator,
+    integration_time
+)
+    length(buffer) == 0 && return 0.0dBHz
+    abs2_prompt_buffer = abs2.(get_prompt_buffer(buffer))
+    M₂ = 1 / length(buffer) * sum(abs2_prompt_buffer)
+    M₄ = 1 / length(buffer) * sum(abs2_prompt_buffer .^ 2)
     Pd = sqrt(abs(2 * M₂^2 - M₄))
     noise_power = (M₂ - Pd)
     noise_power_non_neg = noise_power - 2 * (noise_power < 0) * noise_power